Constructor with transformation parameters. aMatrix and bVector are allowed to
Transform a source vector pt into a target vector result. pt and result must NOT
be the same vector.
Computes the jacobian of this tranformation around the point p. The result is
stored in a new double
Transform pt in place.
Returns the index of the target landmark closest to the input point as well as
the distance to that
Builds the K matrix from landmark points and G matrix.